CN102101298B - Rotational joint module of modularized reconfigurable robot - Google Patents
Rotational joint module of modularized reconfigurable robot Download PDFInfo
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- CN102101298B CN102101298B CN2009102485716A CN200910248571A CN102101298B CN 102101298 B CN102101298 B CN 102101298B CN 2009102485716 A CN2009102485716 A CN 2009102485716A CN 200910248571 A CN200910248571 A CN 200910248571A CN 102101298 B CN102101298 B CN 102101298B
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Abstract
The invention discloses a rotational joint module of a modularized reconfigurable robot. On the basis of planetary reduction, one level of harmonic reduction is added on motor output, a reduction ratio is improved, an output torque is added, and the transmission precision of the module is improved. An upper end cover and a lower end cover serve as installation joints, the flange-type design with locating seam allowances and pin holes is adopted, and the module is accurately and conveniently connected and located. All electric wires are arranged in a cage-type support, the upper end cover and the lower end cover and are isolated and protected by an outer cover, thereby avoiding the problem that the electric wires are coiled when a robot moves. Mechanical limit and electric limit are arranged in the module. On the basis of adopting an incremental coded disc, a rotating potentiometer is added to measure the assistant position of module movement, absolute position information is recorded under the condition of accidental power failure, and the system can continuously work after being electrified. The rotational joint module has the advantages of reasonable and simple structure, high precision and inner routing, is convenient to install and position and is safe and reliable to use.
Description
Technical field
The present invention relates to a kind of modular reconfigurable robot.
Background technology
The modular reconfigurable robot is made up of modules such as a series of joints with different size and functional character, connecting rods; Can with the mode that plays with building blocks through between the module simply, assembly and disassembly fast change overall structure, reconfigure the robot of configuration.For traditional fixed configuration robot, the modular reconfigurable robot can realize " a cover member, multiple configuration ", can select best robot architecture according to mission requirements, thereby stronger to the adaptability and the work capacity of complex environment.
A key technology that embodies modular reconfigurable robot advantageous feature is exactly the cradle head modular design.In all types of cradle head modules of development at present, most of transmission scheme that adopts direct current generator to add planetary reduction gear, return difference is big, precision is not high; Mechanical interface does not have positioning design, is connected and installed complicacy; Outside the electric interfaces cabling is exposed to, be prone to cause electric wire to twine during the robot motion; Do not consider braking and mechanical position limitation, ignored the security in the use; Generally adopt increment type traying, can't retention position information during unexpected power down, cause robotary data disappearance when re-powering, can't continue operation.The existence of the problems referred to above has directly influenced the motion control performance of cradle head module, has reduced flexibility, reliability and the practicality of modular reconfigurable robot.
Summary of the invention
To the above-mentioned weak point that exists in the prior art, the object of the present invention is to provide a kind of simple and reasonable, installing and locating convenience, high, the interior cabling of precision, safe and reliable collecting mechanism, driving, control, perception, communication etc. in the cradle head module that is used for the modular reconfigurable robot of one.
The technical solution adopted for the present invention to solve the technical problems is following:
The cradle head module of a kind of modular reconfigurable robot; Comprise cage type bearing, upper end cover, bottom end cover, dc brushless motor, planetary reduction gear, electromagnetic brake, code-disc, also comprise harmonic speed reducer, said upper end cover is installed in the output of harmonic speed reducer; Said harmonic speed reducer is installed on the cage type bearing; The output shaft of said planetary reduction gear is installed in the input of harmonic speed reducer, and the shell of said planetary reduction gear is installed on the cage type bearing, and the front output shaft of said dc brushless motor is installed in the input of planetary reduction gear; The stator of said dc brushless motor and the shell of said planetary reduction gear are affixed; The rotor of said electromagnetic brake is installed on the rear output shaft of said dc brushless motor, and the stator of said electromagnetic brake is installed on the said brake mount pad, and said brake mount pad and cage type bearing are affixed; The grating dish of said code-disc is installed on the rear output shaft of said dc brushless motor; The shell of said code-disc is installed on the code-disc mount pad, and said code-disc mount pad and said brake mount pad are affixed, and said bottom end cover is installed on the cage type bearing.
For guaranteeing the preservation of current movable information after the unexpected power down; The present invention also comprises rotating potentiometer, pinion, gear ring; Said rotating potentiometer is installed on the cage type bearing; Said pinion is arranged in the rotating shaft of rotating potentiometer, and said gear ring and upper end cover are affixed, said pinion and the engagement of said gear ring; Said code-disc is an increment type traying.
For reaching mechanical position limitation and electric spacing and zero-bit effect, the present invention also comprises mechanical stop limiter and electric stopping means, and said mechanical stop limiter is two positive stops, and positive stop and gear ring are affixed, and another positive stop and cage type bearing are affixed; Said electric stopping means comprises Hall element, magnetic patch, and said Hall element is mounted on the positive stop, and said magnetic patch is mounted on the gear ring.
The present invention also comprises DSP control circuit board, drive circuit board, power-switching circuit plate, D connector; Said DSP control circuit board, drive circuit board and power-switching circuit plate are installed on the code-disc mount pad, and said D connector is installed in respectively on upper end cover and the bottom end cover.
After avoiding being assembled into robot, electric wire motion winding problem takes place, the present invention also comprises outer cover, and said outer cover is connected with bottom end cover.
For guaranteeing that in mounter people's process module connection and location are very accurate, convenient, said cage type bearing, brake mount pad and code-disc mount pad are equipped with and drive the positioning spigot that the installation of transmission components and parts cooperates; Said upper end cover and bottom end cover are equipped with is convenient to interconnective positioning spigot of module and dowel hole.
Principle of the present invention is:
The DSP control circuit board is the control core of cradle head module, function such as be responsible for procedure stores, calculating in real time, SERVO CONTROL, signal is handled and communicate by letter; Drive circuit board receives the instruction that the DSP control circuit board sends, and dc brushless motor is carried out drive controlling; The front output shaft of dc brushless motor will rotatablely move behind planet harmonic double reduction and export upper end cover to; The gear ring that is installed on the upper end cover reaches potentiometer through pinion with motion, utilizes potentiometer record rotational angle information, and guarantees the preservation of current movable information after the unexpected power down; Be installed in the effect that positive stop on gear ring and the cage type bearing plays mechanical position limitation respectively, Hall element and magnetic patch cooperate electric spacing and the zero-bit effect played; The electromagnetic brake that is installed in the dc brushless motor rear output shaft is realized initiatively braking or unexpected power down braking under the control of DSP control circuit board; The increment type traying that is installed in the dc brushless motor rear output shaft feeds back to the DSP control circuit board in real time with the positional information that motor rotates; The power-switching circuit plate is responsible for the power supply of the various components and parts of whole cradle head module.
Beneficial effect of the present invention mainly shows following several respects:
1. motor is exported has increased the one-level harmonic reduction again on the basis of planetary reduction gear; Not only improved speed reducing ratio; Increased the output torque of cradle head module, and, therefore also improved the transmission accuracy of whole module because the harmonic speed reducer return difference is little, precision is high.
2. upper and lower end cap all adopts the flange form design of band seam and dowel hole as output, the input interface of cradle head module, so in mounter people's process, module connection and location are very accurately, conveniently.
3. institute's live wire is arranged in the inside of cage type bearing and upper and lower end cap, and with in addition insulation blocking of outer cover, therefore whole module outward appearance clarity outside no circuit is exposed to, avoids being assembled into generation electric wire motion winding problem behind the robot.
4. adopt positive stop as mechanical position limitation, and it is electric spacing before mechanical position limitation, to utilize Hall element to realize; Simultaneously, adopt electromagnetic brake to realize power down braking protection constantly; More than design has increased the security in the module use greatly.
5. increased the rotating potentiometer design adopting on the basis of increment type traying, measured, and guaranteed under the unexpected power-down conditions still can to work on after the system that makes re-powers the record of absolute location information with this aided location of realizing block motion.
Description of drawings
Fig. 1 is a perspective view 1 of the present invention;
Fig. 2 is a perspective view 2 of the present invention;
Fig. 3 installs the structural representation of outer cover for Fig. 1;
Fig. 4 is the structural representation of driving-chain;
Fig. 5 is the structural representation of cage type bearing;
Fig. 6 is the structural representation of upper end cover;
Fig. 7 is the structural representation of potentiometer mount pad;
Fig. 8 is the structural representation of positive stop;
Fig. 9 is the structural representation of bottom end cover;
Figure 10 is the structural representation of brake mount pad;
Figure 11 is the structural representation of outer cover;
Figure 12 is the structural representation of code-disc mount pad;
Figure 13 is the structural representation of gear ring;
Figure 14 is the structural representation of pinion.
Wherein: 1 is upper end cover, and 2 is bottom end cover, and 3 is the cage type bearing, and 4 is positive stop, and 5 is gear ring; 6 is the potentiometer mount pad, and 7 is rotating potentiometer, and 8 is D connector, and 9 is harmonic speed reducer, and 10 is drive circuit board; 11 is the DSP control circuit board, and 12 is the power-switching circuit plate, and 13 is the brake mount pad, and 14 is the code-disc mount pad, and 15 is pinion; 16 is outer cover, and 17 is planetary reduction gear, and 18 is dc brushless motor, and 19 is electromagnetic brake, and 20 is increment type traying.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is further described.
With reference to Fig. 1～Figure 14; The present invention includes cage type bearing 3, upper end cover 1, bottom end cover 2, dc brushless motor 18, planetary reduction gear 17, electromagnetic brake 19, increment type traying 20; Also comprise harmonic speed reducer 9, rotating potentiometer 7, pinion 15, gear ring 5, comprise mechanical stop limiter and electric stopping means, DSP control circuit board, drive circuit board, power-switching circuit plate, D connector, outer cover; Said upper end cover 1 is installed in the output of harmonic speed reducer 9; Said harmonic speed reducer 9 is installed on the cage type bearing 3; The output shaft of said planetary reduction gear 17 is installed in the input of harmonic speed reducer 9, and the shell of said planetary reduction gear 17 is installed on the cage type bearing 3, and the front output shaft of said dc brushless motor 18 is installed in the input of planetary reduction gear 17; The shell of the stator of said dc brushless motor 18 and said planetary reduction gear 17 is affixed; The rotor of said electromagnetic brake 19 is installed on the rear output shaft of said dc brushless motor 18, and the stator of said electromagnetic brake 19 is installed on the said brake mount pad 13, and said brake mount pad 13 is affixed with cage type bearing 3; The grating dish of increment type traying 20 is installed on the rear output shaft of said dc brushless motor 18; The shell of said increment type traying 20 is installed on the code-disc mount pad 14, and said code-disc mount pad 14 is affixed with said brake mount pad 13, and said bottom end cover 2 is installed on the cage type bearing 3;
Said rotating potentiometer 7 is installed on the cage type bearing 3, and said pinion 15 is arranged in the rotating shaft of rotating potentiometer 7, and said gear ring 5 is affixed with upper end cover 1, said pinion 15 and said gear ring 5 engagements;
Said mechanical stop limiter is that 4, one positive stops of two positive stops 4 are affixed with gear ring 5, and another positive stop 4 is affixed with cage type bearing 3; Said electric stopping means comprises Hall element, magnetic patch, and said Hall element is mounted on the positive stop 4, and said magnetic patch is mounted on the gear ring 5;
Said DSP control circuit board, drive circuit board and power-switching circuit plate are installed on the code-disc mount pad 14, and said D connector is installed in respectively on upper end cover 1 and the bottom end cover 2.
Said outer cover is connected with bottom end cover 2;
Said cage type bearing 3, brake mount pad 13 and code-disc mount pad 14 are equipped with and drive the transmission components and parts positioning spigot that cooperates is installed;
Said upper end cover 1 is equipped with bottom end cover 2 is convenient to interconnective positioning spigot of module and dowel hole.
In addition, Hall element and magnetic patch are used, to realize the electric spacing of cradle head module; Can adjust magnetic patch arbitrarily according to the extreme position that rotates and zero position and on gear ring, mount the position.
It is TMS320F2812 that the dsp chip unit of said DSP control circuit board can adopt model, and the one of which signal input part is connected with the power transfer module of power-switching circuit plate through the CAN communication module;
Its another signal input part is connected with the Driving Field effect tube module output of drive circuit board through the analog signal module;
Its another signal input part is connected with the interface module of rotating potentiometer 7;
Its another signal input part is connected with the interface module of dc brushless motor 18 through the photoelectric encoder interface module;
Its another signal input part is connected with the interface module of dc brushless motor 18 through the Hall element interface module;
Its other three signal input parts are connected with electrostatic protection chip module output with the photoelectric encoder interface module through order of connection recognition interface module, zero utmost point bit switch module respectively;
Said dsp chip unit one of which signal output part is connected with brake control module signal input part;
Its another signal output part is connected with Driving Field effect tube module signal input part with driving logic chip module through the light-coupled isolation chip module successively;
The input of the input of said power transfer module and brake control module is connected with the output of dc source interface module;
Said power transfer module input is connected with CAN communication module, light-coupled isolation chip module, driving logic chip module, brake control module and zero utmost point bit switch module respectively;
Said dc source interface module output is connected with Driving Field effect tube module through the sampling resistor module;
Said Driving Field effect tube module is connected with dc brushless motor interface module input with the analog signal module respectively.
Claims (5)
1. the cradle head module of a modular reconfigurable robot; Comprise cage type bearing, upper end cover, bottom end cover, dc brushless motor, planetary reduction gear, electromagnetic brake, code-disc, it is characterized in that: also comprise harmonic speed reducer, said upper end cover is installed in the output of harmonic speed reducer; Said harmonic speed reducer is installed on the cage type bearing; The output shaft of said planetary reduction gear is installed in the input of harmonic speed reducer, and the shell of said planetary reduction gear is installed on the cage type bearing, and the front output shaft of said dc brushless motor is installed in the input of planetary reduction gear; The stator of said dc brushless motor and the shell of said planetary reduction gear are affixed; The rotor of said electromagnetic brake is installed on the rear output shaft of said dc brushless motor, and the stator of said electromagnetic brake is installed on the brake mount pad, and brake mount pad and cage type bearing are affixed; The grating dish of said code-disc is installed on the rear output shaft of said dc brushless motor; The shell of said code-disc is installed on the code-disc mount pad, and said code-disc mount pad and said brake mount pad are affixed, and said bottom end cover is installed on the cage type bearing; Also comprise rotating potentiometer, pinion, gear ring, said rotating potentiometer is installed on the cage type bearing, and said pinion is arranged in the rotating shaft of rotating potentiometer, and said gear ring and upper end cover are affixed, said pinion and the engagement of said gear ring; Said code-disc is an increment type traying; Also comprise DSP control circuit board, drive circuit board, power-switching circuit plate, D connector; Said DSP control circuit board, drive circuit board and power-switching circuit plate are installed on the code-disc mount pad, and said D connector is installed in respectively on upper end cover and the bottom end cover.
2. the cradle head module of modular reconfigurable as claimed in claim 1 robot; It is characterized in that: also comprise mechanical stop limiter and electric stopping means; Said mechanical stop limiter is two positive stops; Positive stop and gear ring are affixed, and another positive stop and cage type bearing are affixed; Said electric stopping means comprises Hall element, magnetic patch, and said Hall element is mounted on the positive stop, and said magnetic patch is mounted on the gear ring.
3. the cradle head module of modular reconfigurable as claimed in claim 1 robot, it is characterized in that: also comprise outer cover, said outer cover is connected with bottom end cover.
4. like the cradle head module of the described modular reconfigurable of the arbitrary claim of claim 1～3 robot, it is characterized in that: said cage type bearing, brake mount pad and code-disc mount pad are equipped with and drive the positioning spigot that the installation of transmission components and parts cooperates.
5. like the cradle head module of the described modular reconfigurable of the arbitrary claim of claim 1～3 robot, it is characterized in that: said upper end cover and bottom end cover are equipped with is convenient to interconnective positioning spigot of module and dowel hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102485716A CN102101298B (en) | 2009-12-18 | 2009-12-18 | Rotational joint module of modularized reconfigurable robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102485716A CN102101298B (en) | 2009-12-18 | 2009-12-18 | Rotational joint module of modularized reconfigurable robot |
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| CN102101298A CN102101298A (en) | 2011-06-22 |
| CN102101298B true CN102101298B (en) | 2012-11-28 |
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| CN2009102485716A Active CN102101298B (en) | 2009-12-18 | 2009-12-18 | Rotational joint module of modularized reconfigurable robot |
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| CN103192409A (en) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Multi-layer rotary limit mechanism |
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| CN108098832A (en) * | 2018-01-05 | 2018-06-01 | 长春国科医工科技发展有限公司 | The direct moment of torsion control healing robot joint of modularization |
| CN110861120B (en) * | 2019-12-24 | 2023-08-04 | 中国科学院宁波材料技术与工程研究所 | Driving joint based on double-stator frameless torque motor and application thereof |
| CN111618886A (en) * | 2020-06-08 | 2020-09-04 | 山东大学 | Force feedback teleoperation master hand of mechanical arm with six degrees of freedom |
| CN112691000B (en) * | 2021-01-13 | 2023-04-11 | 上海理工大学 | Elbow joint rehabilitation exoskeleton with unpowered rotating forearms |
| CN113829383B (en) * | 2021-10-28 | 2024-04-16 | 上海宇航系统工程研究所 | Driving joint |
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